Automated storage and retrieval apparatus for freezers and related method thereof

ABSTRACT

An automated cold storage apparatus, and related method thereof, provides a sample process management system that is a revolutionary approach to the storage and retrieval regarding critical samples. The system—a significant technological breakthrough in laboratory automation—is the first ultra low temperature robotic system capable of being validated. Samples in containers are stored and retrieved robotically through an airlock climate-control chamber that is automatically dehumidified by a dry gas purge, such as a carbon dioxide or nitrogen purge or the like. This purge rapidly reduces ambient humidity to a desirable relative humidity (RH), e.g., less than about 15% RH, virtually eliminating the accumulation of frost. Microplates are systematically identified using barcode technology, for example. Once through the climate-controlled chamber, the containers (i.e., samples) are robotically transferred to the rotary mechanism. This mechanism transports the containers to a derived nest location upon the storage means, such as a carousel or to one of the stationary addresses.

RELATED APPLICATIONS

[0001] This application claims priority from U.S. ProvisionalApplication Ser. No. 60/227,166, filed on Aug. 23, 2000, entitled“Automated Storage and Retrieval Apparatus for Freezers and RelatedMethod Thereof,” and No. 60/299,597, filed on Jun. 20, 2001, entitled“Automated Storage and Retrieval Apparatus for Freezers and RelatedMethod Thereof,” the entire disclosures of which are hereby incorporatedby reference herein.

FIELD OF INVENTION

[0002] This invention relates to an automated storage and retrievalapparatus for ultra low temperature freezers, and more particularly anapparatus that improves the overall quality of the climate associatedwith storing items therein.

BACKGROUND OF INVENTION

[0003] Advancements in biotechnology and medical science require theanalysis of ever-increasing numbers of various biological samples. Manybiological samples must be stored at below-freezing temperatures inorder to preserve them for future reference, analysis, or use. Forexample, DNA, RNA, cells and protein samples, as well as the reagentsnecessary for conducting various analyses of these samples, must bestored at ultra-cold temperatures to prevent degradation that wouldinterfere with reliable analyses of the biological products.

[0004] Storage below −80° C. is generally required for successfulpreservation of biomolecules, cells, and tissue (morphology andviability) for extended periods of time. However, shelf life and theability to recover living cells are dramatically improved at about −196°C. (−196° C. being the boiling point of liquid nitrogen). The NationalInstitute of Standards and Technology has suggested that the termcryogenics be applied to all temperatures below −150° C. (−238° F. or123° above absolute zero on the Kelvin scale). Some scientists regardthe normal boiling point of oxygen (−183° C. or −297° F.), as the upperlimit. The term ultra low temperature is probably not officiallyrecognized by any standards body. However, it is generally agreed that afreezer refers to a storage device that operates from about −5° C. to−20° C., an ultra low operates from about −50° C. to about 90° C., and acryogenic freezer operates from about −140° C. to −196° C.

[0005] There are many problems associated with placement and retrievalof samples from ordinary laboratory freezer compartments. For instance,in an ordinary freezer compartment, containers of samples must be storedin front of and on top of each other to maximize use of the availablespace. Even if the containers are of standard sizes, and thereforeeasily stackable and even if a positional inventory of the samples iskept, it is still necessary to shuffle the containers around manually inorder to retrieve a desired container. This is problematic because itrequires keeping the freezer door open for possibly extended periods oftime. Keeping the freezer door open causes the interior temperature ofthe freezer compartment to rise temporarily, which can cause thawing ofsamples housed near the door of the freezer. Once the freezer is closedand the temperature decreases, the samples refreeze. This repeatedfreezing and thawing can cause more rapid degradation of samples.Keeping the freezer door open also allows frost to build up in thefreezer compartment. With repeated openings of the door, the frosteventually can freeze containers to the bottom of the freezercompartment or to each other. As a result, the door must be kept openlonger in order to break containers out of the frost, which onlyexacerbates the problem.

[0006] The increasing need for high quality bio-repositories inhospitals, research institutions, and pharmaceutical clinical researchlaboratories provides a market for automated ultra-cold storage devicesthat will improve sample quality, organize storage, provide rapid accessto all specimens, and maintain electronic records of all specimensstored within the container.

[0007] U.S. Pat. No. 5,921,102 to Vago, herein incorporated byreference, utilizes a storage apparatus particularly with automaticinsertion and retrieval. Drawbacks of the Vago approach, but not limitedthereto, are that it fails to provide the climate control associatedwith the freezer and the various interchanging devices, and otherfeatures and aspects.

[0008] There is therefore a need in the art for an automated coldstorage apparatus, and related method thereof, that can provide, amongother things a more organized storage and retrieval apparatus, lessaccumulation of moisture and frost within the cold storage compartment,less temperature fluctuation from sample withdrawal, and rapid randomaccess to all specimens.

SUMMARY OF THE INVENTION

[0009] The present invention automated cold storage apparatus, andrelated method thereof, provides a sample process management system thatis a revolutionary approach to the storage and retrieval of criticalsamples. The system—a significant technological breakthrough inlaboratory automation—is the first ultra low temperature robotic systemcapable of being validated. Samples in containers are stored andretrieved robotically through an airlock climate-control chamber (accessmeans) that is automatically dehumidified by a dry gas purge, such as acarbon dioxide or nitrogen purge or the like. This purge rapidly reducesambient humidity to a desirable relative humidity (RH), e.g., less thanabout 15 % RH, virtually eliminating the accumulation of frost.Microplates or storage containers, or the like, are systematicallyidentified using barcode technology, for example. Once through theclimate-controlled chamber, the containers (i.e., samples) arerobotically transferred to the rotary mechanism. This mechanismtransports the containers to a derived nest location upon the storagemeans, such as a carousel or one of the stationary addresses. Forillustrative purposes only, the carousel and stationary nests may have acombined capacity of 1,000 standard microplates. It is contemplated thatvarious capacities may be designed.

[0010] The preferred embodiments of the present invention automatedstorage and retrieval apparatus, and related method thereof, operate atan ultra low temperature of about −50° C. to about −90° C. It should beunderstood that the apparatus may operate in a range of −50° C. up toambient temperature or greater. The normal design operating temperatureof the freezer compartment of the present invention is about −80° C. Itshould be noted that the present invention is contemplated to operate atconditions colder than ultra low temperatures in the range of about−140° C. to about −90° C. Conveniently, if the freezer fails forwhatever reason—maintenance or scheduled outage—then liquid carbondioxide can be pumped into the system and keep it at approximately −78°C. The ultra low freezer set point (approximately 78° C.) of theapparatus can be backed up by installing a cylinder of liquid carbondioxide.

[0011] In one aspect, the present invention features an automatedstorage and retrieval apparatus for storing containers at ultra lowtemperatures or other preferred temperatures. The apparatus comprising:a freezer compartment, the freezer compartment having a side wall; astorage carousel disposed inside the freezer compartment for holding thecontainers; a climate-controlled chamber disposed on the side wall; aclimate system for controlling the climate of the chamber; and aninterchange mechanism configured. The interchange mechanism isconfigured to: interchange a container between the interchange mechanismand the climate-controlled chamber while in a chamber exchange position,and interchange a container between the interchange mechanism and thecarousel while in a carousel exchange position. The chamber also beingconfigured to: isolate the container from the interchange mechanism ascontainer is deposited from the exterior or placed into the exterior,and isolate the container from the exterior as container is exchangedbetween the chamber and the interchange mechanism.

[0012] In some embodiments, the carousel can be replaced with astationary storage rack, and additional storage racks may be added. Theinterchange mechanism is configured to interchange a container betweenthe interchange mechanism and the rack(s) while in a rack exchangeposition(s).

[0013] In a second aspect, the present invention provides an automatedstorage and retrieval apparatus for storing containers at ultra lowtemperatures or other preferred temperatures. The apparatus comprising:a freezer means for freezing the containers; a storage means disposedinside the freezer means for holding the containers; a chamber means forinterchanging the containers between the exterior and the freezer means;a climate system control means for controlling the climate of thechamber means; and an interchange means. The interchange means for:interchanging a container between the interchange means and the chambermeans while in a chamber exchange position, and interchanging acontainer between the interchange means and the storage means while in astorage exchange position. The chamber means for: isolating thecontainer from the interchange means as container is deposited from theexterior or placed into the exterior, and isolating the container fromthe exterior as container is exchanged between the chamber means andsaid interchange means.

[0014] In a third aspect, the present invention provides a method forautomatically depositing and storing containers, as well as a method forstoring and retrieving containers in a freezer compartment of anautomated apparatus. The apparatus comprising: a freezer means forfreezing the containers; a storage means disposed inside the freezermeans for holding the containers; a chamber means for interchanging thecontainers between the exterior and the freezer means; a climate systemcontrol means for controlling the climate of the chamber means; and aninterchange means. The interchange means for: interchanging a containerbetween the interchange means and the chamber means while in a chamberexchange position, and interchanging a container between the interchangemeans and the storage means while in a storage exchange position. Thechamber means for: isolating the container from the interchange means ascontainer is deposited from the exterior or placed into the exterior,and isolating the container from the exterior as container is exchangedbetween the chamber means and said interchange means.

[0015] An advantage of the present invention automated storage andretrieval apparatus for ultra low temperature freezers, and relatedmethod thereof, is that the apparatus can operate in a stand-alone modeor can be integrated into a completely automated laboratory. It isscalable to meet the needs of small laboratories as well as largeinstitutions that will require long-term storage of large numbers ofsamples.

[0016] Another advantage of the present invention is that the apparatuscan be designed as a slide-in unit for existing ultra-cold freezers,which will keep the majority of the hardware in the door so as to beinsulated from the freezer compartment, minimizing both the number oflow-temperature hardware components and the actual alteration to thefreezer itself. A reduced number of moving components is continuouslyexposed to the design temperature of about −80° C., reducing the cost ofproduction.

[0017] Further advantages of the present invention are attributed to theimproved sample quality, lowered operating costs, and reducedmaintenance of the automated storage and retrieval apparatus.

[0018] Finally, an advantage of the present invention is that itprovides ultra-low temperature automation or lower and user-friendlyinformation technology in a proven reliable manner.

[0019] These and other objects, along with advantages and features ofthe invention disclosed herein, will be made more apparent from thedescription, drawings and claims that follow.

BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The foregoing and other objects, features and advantages of thepresent invention, as well as the invention itself, will be more fullyunderstood from the following description of preferred embodiments, whenread together with the accompanying drawings, in which:

[0021]FIG. 1 shows a schematic plan view of the automated storage andretrieval apparatus.

[0022]FIG. 2A shows a schematic perspective view of the automatedstorage and retrieval apparatus.

[0023]FIG. 2B shows a perspective partial view of the door or wall of acompartment and/or housing.

[0024]FIG. 3 shows a schematic cross-sectional view of the climatecontrolled chamber with the exterior door in open and closed positions.

[0025]FIGS. 4A and 4B show a schematic frontal view and plan view,respectively, of the related translation mechanisms of the climatecontrolled chamber.

[0026] FIGS. 5A-5D show a schematic representation of select positionsof the rotational alignment of the interchange mechanism.

[0027]FIGS. 6A and 6B comprise a flow chart illustrating the operationfor depositing and storing a storage container or the like in theautomated storage and retrieval apparatus.

[0028]FIGS. 7A and 7B comprise a flow chart illustrating the operationfor retrieving the targeted or desired storage container or the like inthe automated storage and retrieval apparatus.

[0029]FIG. 8 shows a schematic perspective view of the storage carouselof the automated storage and retrieval apparatus.

[0030]FIG. 9 shows a perspective view of an individual vertical rackfrom the carousel of FIG. 8, comprised of a plurality of storage trays,

[0031]FIGS. 10A and 10B show a schematic perspective view of the storagetrays and their related cooperation with the vertical supports of thecarousel.

[0032]FIGS. 11A and 11B are schematic perspective views of theinterchange mechanism and related components.

[0033]FIG. 12 shows a schematic block diagram of the general features ofthe control system of the automated storage and retrieval apparatus.

[0034]FIG. 13 shows a schematic block diagram of an exemplary computersystem associated with an embodiment of the automated storage andretrieval apparatus.

[0035]FIGS. 14A and 14B show schematic perspective views of analternative embodiment of the automated storage and retrieval apparatus.

[0036] FIGS. 15A-15D show schematic plan views of an alternativeembodiment of the automated storage and retrieval apparatus providingexpanded network system of cooperating freezer apparatuses.

[0037]FIG. 16A and 16B show schematic perspective front/exterior viewsof the housing of the climate control chamber with related components inboth the closed and open position, respectively.

[0038]FIG. 17A and 17B show schematic perspective back/interior views ofthe housing of the climate control chamber with related components inboth the closed and open position, respectively.

DETAILED DESCRIPTION OF THE INVENTION

[0039] Turning now to the drawings, the present invention isschematically shown in the plan view of FIG. 1 and perspective view ofFIG. 2A, which includes an automated storage and retrieval apparatus 1having one or more storage carousels 20 disposed in a freezercompartment 10, with one or more optional stationary racks 26, 27, aninterchange mechanism 40, and a climate controlled chamber 60 that isgenerally disposed on a wall 11 of the freezer compartment 10 orassociated housing 2. A central control system 80 is coupled to thestorage carousel 20, interchange mechanism 40, and climate controlledchamber 60 for controlling their operations. Generally, the controlsystem 80 controls the operation of the apparatus so that the containerscan be loaded from the exterior into the climate-controlled chamber 60for retrieval by the interchange mechanism 40 for insertion onto thecarousel 20 in the freezer compartment 10. Stored containerssubsequently can be retrieved from the carousel 20 by the interchangemechanism 40 and available to be taken away to the exterior through theclimate controlled chamber 60.

[0040]FIG. 2B shows a perspective partial view of the wall 11 of thecompartment and/or door of the housing. Mounted on the wall 11 are theclimate-controlled chamber 60 and a touch screen interface 82. As willbe discussed later, it is envisioned that a control system and computersystem can be accessed directly by using the touch screen interface 82and/or remotely by a stand-alone personal computer or with a local areanetwork (LAN).

[0041] Next, details of the climate controlled chamber 60 will beprovided, as best shown in FIGS. 3 and 4A-4B. A particularly desirablefeature is that the climate-controlled chamber 60 prevents ambient,humid air from entering the interior of freezer compartment 10 duringstorage container insertion and retrieval. The Chamber 60 has aninterior door 61 to allow communication between freezer compartment 10and chamber 60, and an exterior door 62 to allow communication betweenthe exterior environment (or adjacent area) and chamber 60. The chamber60 has a climate control system 66 that provides an air purgingcapability to cool and dehumidify the air in the chamber 60 beforeinterior door 61 is opened. A scanning reader device 65, preferably abarcode reader, is situated in the chamber 60 to identify storagecontainers as they are inserted into and retrieved from chamber 60.Information relative to the storage containers is transmitted fromreader device 65 to central and/or remote processor.

[0042] Still referring to FIGS. 3 and 4A-4B, the storage containers 3are carried by a transport tray 63 that is slidably mounted on twochannels 67, 68. The transport tray 63 can transport the container 3 tothe exterior as the exterior door 62 is open, as indicated by the dashedlines. Alternatively, the transport tray 63 can transport the container3 to the interior of the freezer compartment 10 as the interior door 61is open, as indicated by the dotted lines. In one embodiment, theinterior door 61 may slide open and close on a track (not shown). Aclimate control system 66 is in communication with the chamber 60 thatdehumidifies and cools the chamber 60 while the container is isolatedtherein, i.e., both exterior and interior doors are closed. The climatecontrol system 66 includes a dry gas or dry air purge (i.e., nitrogen,carbon dioxide, or the like), that rapidly reduces ambient humidity toany desired level, e.g., less than about 25% relative humidity (RH) andas low as about 1% RH. In fact, any compressed gas from which moisturehas been removed will reduce the humidity in the airlock, and will coolthe airlock by adiabatic expansion to about −10° C. to about 0C., or asdesired.

[0043] A preferred embodiments of the present invention automatedstorage and retrieval apparatus, and related method thereof, operate atan ultra low temperature from about 50° C. to about −90° C. It should beunderstood that the apparatus may operate in a range of −50° C. up toambient temperature or greater. The normal design operating temperatureof the freezer compartment of the present invention is about −80° C. Itshould be noted that the present invention is contemplated to operate atconditions colder than ultra low temperatures in the range of about−140° C. to about −90° C. Conveniently, if the freezer fails forwhatever reason—maintenance or scheduled outage—then liquid carbondioxide can be pumped into the system and keep it at approximately −78°C. Thus, the ultra low freezer-set point of the apparatus can be backedup by installing a cylinder of liquid carbon dioxide.

[0044] One skilled in the art would appreciate that various types andsubstitutes for interior and exterior chamber doors can be used.Moreover, a single door can be utilized which can rotate betweeninterior and exterior sides.

[0045] Additional details pertaining to the climate controlled chamber60 will be provided, as best shown in the perspective views of FIGS.16A-16B and FIGS. 17A-17B. The front/exterior view and the back/interiorview of climate controlled chamber 60 are shown in FIGS. 16A-16B andFIGS. 17A-17B, respectively. Referring to front/exterior view of FIG.16A, the chamber 60 includes a chamber housing 91 having its exteriordoor 62 in a closed position with a deep well micro-plate 92 placedthereon the transport tray 63. It should be appreciated that a shallowwell micro-plate may be used, as well as any other size, type, or numberof containers, which can be accommodated for storage and interchange.Also shown is a tray-motor and gear box housing 93, reading device 65,and air purge port 94. FIG. 16B shows the chamber 60 having its exteriordoor 62 in an open position.

[0046] Referring to the back/interior view of FIGS. 17A-17B, there isshown the chamber 60 including an interior door-motor gear and motorhousing 95 and lead screw 96, and having its interior door 61 in aclosed position. FIG. 17B shows the chamber 60 having its interior door61 in an open position with the deep well micro-plate 92 placed thereonthe transport tray 63.

[0047] Additional details of the cooperation between the freezercompartment 10, carousel 20, stationary racks 26, 27, interchangemechanism 40, and climate-controlled chamber 60 are schematically shownreferring to FIGS. 5A-5D. The interchange mechanism 40 is configured tointerchange containers between it and the carousel 20 (See FIG. 5B),stationary storage racks 26, 27 (See FIGS. 5C-5D, respectively), and theclimate-controlled compartment 60 (See FIG. 5A). Various storage meansbesides the disclosed carousels or stationary racks are contemplated,such storage means include the following but are not limited theretoautomated stackers, and with possible additional hardware, rectangulararrays of storage nests (or any predetermined shaped carousel/rackincluding linear, oval, pentagonal, hexagonal, etc.). The interchangemechanism 40 requires a picking mechanism 41 for horizontallytranslating the interchange tray 44 for interchanging the container 3with the carousel 20 or the climate controlled chamber 60. Variouspicking mechanisms include, but not limited thereto lead screws, pickingdevices, vacuum devices, side gripping fingers, vertical pincers, andconveyors. The interchange mechanism 40 further comprises a verticaltransporter 42 configured to allow the interchange mechanism 40 to betranslated vertically over a plurality of discrete heights. Variousvertical transporters include, but not limited thereto lead screws,chain drives, and conveyors. Further yet, the interchange mechanism 40comprises a rotary transporter 43 that is configured to rotate theinterchange mechanism 60 to a plurality of discrete circumferentialpositions. Various rotary mechanisms include, but not limited theretolead screws, pivot devices, gear drives, belt or chain drives, pneumaticor hydraulic devices, and conveyors.

[0048] With regards to control operations, the present inventionautomation and robotic motions described herein are provided in part bythe control system 80 and processor 81. It should be noted that thefollowing exemplary sequences of operations may be varied, partiallyomitted, overlapped to reduce the total elapsed time of operation, orreordered in an alternative sequence.

[0049] Operation for depositing 600 a storage container is provided inthe flowchart of FIGS. 6A-6B. In a first step, 601, the exterior door 62opens and transport tray 63 exits, and storage container 3 is placed inchamber 60. In step 602, the exterior door 62 closes, transport tray 63returns to chamber 60 and storage container's barcode is scanned byreader device 65, and storage location is assigned. In step 603,exterior door 60 and interior door 61 are in closed position while airpurging system 66 cools and dehumidifies air in the chamber 60. In step604, the interior door 61 opens, the transport tray 63 transports thecontainer 3 inward, a picking mechanism 43 is advanced into the chamber60 to pick up the storage containers and then retracts to place thecontainer 3 on interchange tray 44, and the interior door closes. Instep 605, the storage carousel 20 is rotated to rotationally align thecorrect vertical rack 23 with the future position of the interchangemechanism 40. In step 606, the interchange mechanism 40 is actuatedvertically by a vertical transporter 42 to vertically align with correctheight of targeted storage tray 28. In step 607, a rotary transporter 43rotates the interchange mechanism 40 to rotationally align with correctvertical rack 23. In step 608, the picking mechanism 43 is advancedsubstantially horizontally to place the storage container 3 on storagetray 28. In step 609, the picking mechanism 43 is vertically lowered adesired nominal distance, e.g., approximately ⅛-inch, and retractedsubstantially horizontally to disengage the storage container 3. In step610, the processor records relevant storage container information in thedatabase. In step 611, provided no other activity is required at thestorage carousel 20 (or at any stationary storage rack 26, 27) theinterchange mechanism 40 is rotated to rotationally align with interiordoor 61 of the chamber 60 and the interchange mechanism 60 is verticallyactuated to vertically align with interior door 61, for a resting state.It should be noted that a similar process and aspect applies to thestationary racks 26, 27, except that the racks do not rotate.

[0050] Next, the operation for retrieving 700 the desired or targetedcontainers 3 from the storage trays 28, is provided in the flowchart ofFIGS. 7A-7B. In a first step 701, a storage container identification(ID) for a desired or targeted container is entered electronically orvia data input device such a display panel integral with the apparatushousing or a remote there from, both of which being operativelyconnected to the control system 80. In step 702, a central processor 81locates relevant storage container information in the database andlocation of storage container in storage carousel 20 (or stationarystorage racks) is determined. Optionally, step 703 , if security isrequired, then an access code is entered via data input device such adisplay panel integral with the apparatus housing or a remote processor,and confirmed by central processor 81 to allow access to the desiredstorage container 3. In step 704, the storage carousel 20 is rotated torotationally align the correct vertical rack 23, containing the desiredstorage container 3, with the future position of the interchangemechanism 40. In step 705, the interchange mechanism 40 is actuatedvertically by a vertical transporter 42 to vertically align with thecorrect height of a desired storage tray 28. In step 706, the rotarytransporter 43 rotates the interchange mechanism 40 to rotationallyalign with correct vertical rack 23. In step 707, the picking mechanism43 is advanced substantially horizontally to retrieve the storagecontainer 3 from storage tray 28. In step 708, the picking mechanism 43is vertically raised a desired nominal distance, e.g., approximately⅛-inch, and retracted horizontally to engage and withdraw the storagecontainer 3. In step 709, the interchange mechanism 40 is rotated torotationally align with interior door 61 of chamber 60. In step 710, theexterior door 62 and interior door 61 are in closed positions while airpurging system 66 cools and dehumidifies air in chamber 60. In step 711,the interior door 61 opens, the transport tray 63 extends as the pickingmechanism 43, advancing into chamber 60 to disengage the storagecontainer in the chamber 60. In step 712, the picking mechanismwithdraws into the freezer compartment and the interior door 61 closes,and the reader device 65 reads the barcode ID of the storage containerto confirm that it matches the ID that was entered in step 701 of thepresent invention retrieval process. In step 713, the exterior door 62opens, allowing access to the storage container 3. It should be notedthat a similar process and aspect applies to the stationary racks 26,27, except that the racks do not rotate.

[0051] Next, details pertaining to the storage carousel 20 will bediscussed, as schematically shown in FIGS. 8-9. The perspective view asshown in FIG. 8 includes a carousel 20 having some racks 23 omitted forillustration purposes. The carousel 20 comprises an annular ring ofvertical racks 23 arranged circumferentially between an upper horizontalplate 29 (shown in dashed lines) and a lower horizontal plate 30. Thecarousel may be various sizes, dimensions, and shapes, including linear,rectangular, pentagonal, and hexagonal or the like. A base plate 31,acts as a bearing brace to the support storage carousel 20 whileallowing rotation of carousel 20 about the vertical axis. Rotation ofcarousel 20 is actuated by a motor driveshaft 32, which runs throughlower horizontal plate 30 and base plate 31 to communicate with a motor(not shown). The motor is preferably mounted beneath the floor offreezer compartment 10, where the refrigeration equipment is housed, andwhere the motor is not exposed to the ultra-cold temperatures of freezercompartment 10. Storage carousel 20 may rest on a ball bearing system toprovide reduced friction at ultra-cold temperatures. Theself-lubricating bearing system, e.g., graphite ceramic, may be used aswell as other types known to those skilled in the art. Vertical racks 23are mounted to upper horizontal plate 29 and lower horizontal plate 30with right-angle braces or the like. The vertical racks 23 comprise avertical support 33 and a plurality of adjustable storage trays 28 tohold a plurality of storage containers 3, which could be of standard orvarying size.

[0052]FIG. 9 is a perspective view of an individual vertical rack 23,comprised of a plurality of storage trays 28.

[0053] Next, details pertaining to the storage trays 28 and cooperationwith the vertical support 33 of the carousel 20 will be discussed, asbest shown in FIGS. 10A-10B. Storage trays 28 have a flat, horizontallyoriented support surface 34 with an open center 35 to allow theinterchange mechanism 40 to engage the storage containers 3 either forplacement onto storage tray 28 or for retrieval from storage tray 28.The storage trays 28 have a flat vertically oriented attachment surface36 positioned at a right angle to the proximal edge of storage trays 28,which allows connection of storage trays 28 to vertical support 33 ofthe vertical racks 23 by an attachment assembly 37 (partially shown).Other configurations of the attachment assembly 37 are contemplatedaccording to the type of interactions between the various components andsubsystems. The distal edge of storage trays 28 is open and outwardfacing to allow access to the storage containers. Other configurationsof the storage trays 28 are contemplated according to the type ofinteractions between the various components and subsystems. Verticallyoriented raised guides 38 are situated on lateral edges of storage trays28 to prevent storage containers from becoming misaligned on storagetrays 28. The raised guides 38 can be stamped out of the surface ofstorage trays 28, or other suitable means known to those skilled in theart.

[0054] Next, details of an exemplary embodiment of the interchangemechanism 40 will be discussed, as best shown in FIGS. 11A-11B. In thisparticular embodiment the interchange mechanism 40 comprises a pair ofguide rails 45 and 46 that are located with their axes vertically withinthe freezer compartment 10 and they extend for a substantial length asrequired by the discrete heights of the various interchange operations.The guide rails 45 and 46 are slidably mounted on the interchange plate47. A vertical lead screw 48 having an axis length-wise within thefreezer compartment 10 is actuated by a motor 53, located below thefreezer compartment, for vertically translating the interchange plate 47to a desired height. A vertically mounted rotating square shaft 49 isdriven by a motor 54 mounted beneath the floor of freezer compartment10. The square shaft 49 drives the interchange tray 44 using a geartrain, such as the square shaft gear 50 and tray gear 51, as shown. Thedrive gear mates with a rack 52 in communication with the interchangetray 44. During operation, the square shaft 49 rotates in a clockwisedirection to drive the gear train and rack 52, thereby driving theinterchange tray 44 horizontally into an extended position, as shown bythe dashed lines. While in the extended position, the interchange tray44 is capable of retrieving or dropping off a container. Next, thesquare shaft 49 rotates in a counter-clockwise direction to drive thegear train and rack 52 in an opposite direction, causing the rack 52 andinterchange tray 44 to retract to a rest position. The rotarytransporter 43, driven by a motor (not shown) mounted beneath the floorof the freezer compartment 10, rotates the interchange mechanism 40 torotationally align with correct vertical rack 23 or stationary storagerack 26, 26, and interior door 61 of the chamber 60, or any otherposition as required. The rotary transporter 43 may be pivoted, rotated,or translated using a means known to those skilled in the art.

[0055] It should be noted that the motors for the storage carousel 10,vertical transporter 42, rotary transporter 43, picking mechanism 42,and transport tray 63 can be a variety of types of motors known to thoseskilled in the art, including but not limited thereto servo motors andstepper motors, or any direct current (DC) motor with suitable positionor velocity controllers. In the various preferred embodiments disclosedherein, the motors are mounted outside of the freezer compartment 10 toextend the life of the component and improve the overall serviceabilityof the apparatus. With the exception of the transport tray 63 the driveshafts are mounted through a series of sophisticated thermal seals andthermal couplers designed to maintain temperature stability throughoutall operating cycles. In a choice embodiment, the servomotors may be ofa SMART MOTOR by Antimatics, Corp. These type of servo motors aremicroprocessor controlled, ensuring accurate placement and monitoring ofthe robotics operating within the critical environment; however, anyposition or velocity controlled motors may be used.

[0056] Next, the general features of the present invention controlsystem 1280 will be discussed, as shown in the block diagram of FIG. 12.The control system 1280 interfaces with a computer system 1281 that maybe integral with the housing 2 or remote via a wire or wirelesscommunication, or any combination thereof. Moreover, the control system1280 may be in communication with and integrated with a laboratoryinformation management system (LIMS) 1282. The control system 1280 isoperatively connected with the various motors 1283, actuators 1284,position sensors 1285, and identification sensors 1286. It iscontemplated that that the information derived from the sample or workpieces carried in the containers 3 while practicing the presentinvention will provide an information technology platform for the user.The computer system 1281 is intended to be a user-friendly, utilizingWindows-based platform or any other operating system, and may beintegrated with a variety of laboratory information management systems.It is envisioned that the control system 1280 and computer system 1281can be accessed directly by using a touch screen interface or remotelyby a stand alone personal computer or with a local area network (LAN).

[0057] The present invention apparatus provides the user the capability,among other things, to set top-level user-definable parameters tocontrol container (sample) access based on research groups, researchcampaigns or individual laboratories. For instance, sample data can beconfigured by the user to meet the user's particular researchrequirements. The database can then search the user's sample populationsto find all the samples that match the user's requested researchparameters. Moreover, time/temperature profiles and sample accesshistories are maintained continuously. The present invention allows theuser to set sample migration thresholds. This feature, employing sampleusage frequencies, prompts the movement of low demand samples intolonger-term storage units—maximizing the efficiency of the user's sampleprocess management system. Furthermore, the present invention apparatusenables the user to generate a variety of reports in support of theuser's quality assurance needs. Finally, the user will benefit from thepresent invention's information technology by receiving excellent samplesecurity, optimal sample visibility, optimal quality assurance, samplemigration control and flexible data management.

[0058] Next, exemplary embodiments of the control system and computersystem will be discussed, as best shown in FIG. 13. The controls andprocessing of present invention may be implemented using hardware,software or a combination thereof and may be implemented in one or morecomputer systems or other processing systems, such as personal digitassistants (PDAs). In an example embodiment, the invention wasimplemented in software running on a general purpose computer 1300 asillustrated in FIG. 1300. Computer system 1300 includes one or moreprocessors, such as processor 1304. Processor 1304 is connected to acommunication infrastructure 1306 (e.g., a communications bus,cross-over bar, or network). Computer system 1300 includes a displayinterface 1302 that forwards graphics, text, and other data from thecommunication infrastructure 1306 (or from a frame buffer not shown) fordisplay on the display unit 1330.

[0059] Computer system 1300 also includes a main memory 1308, preferablyrandom access memory (RAM), and may also include a secondary memory1310. The secondary memory 1320 may include, for example, a hard diskdrive 1312 and/or a removable storage drive 1314, representing a floppydisk drive, a magnetic tape drive, an optical disk drive, etc. Theremovable storage drive 1314 reads from and/or writes to a removablestorage unit 1318 in a well known manner. Removable storage unit 1318,represents a floppy disk, magnetic tape, optical disk, etc. which isread by and written to by removable storage drive 1314. As will beappreciated, the removable storage unit 1318 includes a computer usablestorage medium having stored therein computer software and/or data.

[0060] In alternative embodiments, secondary memory 1310 may includeother means for allowing computer programs or other instructions to beloaded into computer system 1300. Such means may include, for example, aremovable storage unit 1322 and an interface 1320. Examples of suchremovable storage units/interfaces include a program cartridge andcartridge interface (such as that found in video game devices), aremovable memory chip (such as a ROM, PROM, EPROM or EEPROM) andassociated socket, and other removable storage units 1322 and interfaces1320 which allow software and data to be transferred from the removablestorage unit 1322 to computer system 1300.

[0061] Computer system 1300 may also include a communications interface1324. Communications interface 1324 allows software and data to betransferred between computer system 1300 and external devices. Examplesof communications interface 1324 may include a modem, a networkinterface (such as an Ethernet card), a communications 30 port, a PCMCIAslot and card, etc. Software and data transferred via communicationsinterface 1324 are in the form of signals 1328, which may be electronic,electromagnetic, optical or other signals capable of being received bycommunications interface 1324. Signals 1328 are provided tocommunications interface 1324 via a communications path (i.e., channel)1326. A channel 1326 (or any other communication means or channeldisclosed herein) carries signals 1328 and may be implemented using wireor cable, fiber optics, a phone line, a cellular phone link, an RF linkand other communications channels.

[0062] In this document, the terms “computer program medium” and“computer usable medium” are used to generally refer to media such asremovable storage drive 1314, a hard disk installed in hard disk drive1312, and signals 1328. These computer program products are means forproviding software to computer system 1300. The invention includes suchcomputer program products.

[0063] Computer programs (also called computer control logic) are storedin main memory 1308 and/or secondary memory 1310. Computer programs mayalso be received via communications interface 1324. Such computerprograms, when executed, enable computer system 1300 to perform thefeatures of the present invention as discussed herein. In particular,the computer programs, when executed, enable processor 1304 to performthe functions of the present invention. Accordingly, such computerprograms represent controllers of computer system 1300.

[0064] In an embodiment where the invention is implemented usingsoftware, the software may be stored in a computer program product andloaded into computer system 1300 using removable storage drive 1314,hard drive 1312 or communications interface 1324. The control logic(software), when executed by the processor 1304, causes the processor1304 to perform the functions of the invention as described herein.

[0065] In another embodiment, the invention is implemented primarily inhardware using, for example, hardware components such as applicationspecific integrated circuits (ASICs). Implementation of the hardwarestate machine to perform the functions described herein will be apparentto persons skilled in the relevant art(s).

[0066] In yet another embodiment, the invention is implemented using acombination of both hardware and software.

[0067] In an example software embodiment of the invention, the methodsdescribed above were implemented in VISUAL BASIC control language, butcould be implemented in other programs such as, but not limited to, C++programming language.

[0068] Next, details of an alternative second embodiment of the presentinvention will be discussed, as best shown in FIGS. 14A-B. The storagecarousel is fixed in place (i.e., no rotation) providing a fixed hotel1420. The storage containers 1403 are accommodated on shelves 1428 inthe same manner as in the storage carousel. However, the interchangemechanism 1440 is located in the central core 1439 of the fixed hotel1420. The interchange mechanism 1440 includes an interchange tray 1444,and may rotate about its axis and travel vertically as previouslydiscussed herein. The interchange mechanism 1440 retrieves storagecontainers from shelves, takes them to a vertical position aligned withan access portal 1437, and moves them through the portal 1437 to theexterior of the freezer via the climate controlled chamber 1460. It isnoted that the access portal 1437 is a fixed hole in the fixed hotel1420 allowing samples to access the interchange mechanism 1440. One ormore access portals may be used if one wishes to mate several fixedhotels 1420 or rotating carousels together, or provide more than onepoint of access portal 1437. Furthermore, the access portal may bemovable if one wishes to provide rotational movement to one “slice” ofthe hotel 1420.

[0069] An advantage of this second embodiment approach, but not limitedthereto is that it may be accommodated in a cylindrical freezercompartment, occupying less space. In addition, this apparatus andmethod obviates the need for a rotational mechanism for the carousel(unless one wishes to have a movable access port). All other aspects ofthe design are the same as previously described above.

[0070] In addition, as a third alternative embodiment, one could alsohave a second carousel outside the one depicted in FIGS. 14A-14B, so asto allow for greater storage space. In this embodiment the insidecarousel could rotate so as to allow a vertical arrangement androtational alignment of access ports to access any compartment in theouter carousel.

[0071] Next, details of providing an expanded network system ofcooperating freezer apparatuses 1501 will be discussed, as best shown inFIGS. 15A-D. The plurality storage of carousels 1520 (or stationarystorage racks 1526, 1527 and fixed hotels), interchange mechanism 1540,and climate control chamber 1560 operate with the methods and aspectsdescribed herein. The plurality of storage carousels 1520 (stationaryracks or fixed hotels) operates in an enclosure 1502. The enclosure 1502may be equipment housing-type as previously discussed to accommodate afreezer unit or plurality of freezer units. Alternatively, the enclosure1502 may be an entire room, or a plurality of rooms, as disclosed in theU.S. Pat. No. 5,921,102 Vago patent. The configurations shown in FIGS.15A-D are illustrative in nature and are not intended to be exhaustiveas other combinations and designs are contemplated. Essentially, thecontainers 1503 are interchanged, stored, deposited, and retrieved amongthe storage carousels 1520 (including stationary storage racks 1526,1527), interchange mechanism 1540, and climate-controlled chamber 1560using the aspects and methods previously disclosed herein, whilerecognizing the enclosure 1502 may be a room or equipment housing, orany combination thereof. A control system 1580 is operatively connectedto the various components and subsystems, wherein the controls andprocessor are locally or remotely located.

[0072] The interchange mechanism 1540 cooperate with multiple locationsallowing containers 1503 to pass among carousels 1520 and stationaryracks 1526, 1527, and of course the climate-controlled chamber 1560. Asshown in FIGS. 15C-D, to accomplish this task, a translating mechanism1590 is provided to translate or shift the interchange mechanism 1540 tothe target carousel(s) 1520 or stationary racks 1526, 1527. Variousmeans are contemplated for translating the interchange mechanism 1540,including but not limited thereto, track devices, wheels, conveyors,pulleys, suspension devices, belts, gears, or other robotic devices.

[0073] Some advantages of the present invention automated storage andretrieval apparatus for ultra low temperature freezers, and relatedmethod thereof, are that it provides a more organized storage andretrieval apparatus, less accumulation of moisture and frost within thecold storage compartment, less temperature fluctuation from samplewithdrawal, and rapid random access to all specimens.

[0074] Moreover, another advantage of the present invention is that theapparatus can operate in a stand-alone mode or can be integrated into acompletely automated laboratory. It is scalable to meet the needs ofsmall laboratories as well as large institutions that will requirelong-term storage of large numbers of samples.

[0075] Another advantage of the present invention is that the apparatuscan be designed as a slide-in unit for existing ultra-cold freezers,which will keep the majority of the hardware in the door so as to beinsulated from the freezer compartment, minimizing both the number oflow-temperature hardware components and the actual alteration to thefreezer itself. A reduced number of moving component is continuouslyexposed to the normal design temperature of about −80° C., reducing thecost of production.

[0076] Further advantages of the present invention are attributed to theimproved sample quality, lowered operating costs, and reducedmaintenance of the automated storage and retrieval apparatus.

[0077] Still further, an advantage of the present invention is that theclimate-controlled chamber prevents ambient, humid air from entering theinterior of freezer compartment during storage container insertion andretrieval.

[0078] Finally, an advantage of the present invention is that itprovides ultra-low temperature automation and user-friendly informationtechnology in a proven reliable manner. It is contemplated that thepresent invention apparatus may provide an operation temperature belowand above the ultra low operating temperature.

[0079] The invention may be embodied in other specific forms withoutdeparting from the spirit or essential characteristics thereof. Theforegoing embodiments are therefore to be considered in all respectsillustrative rather than limiting of the invention described herein.Scope of the invention is this indicated by the appended claims ratherthan by the foregoing description, and all changes which come within themeaning and range of equivalency of the claims are therefore intended tobe embraced herein.

We claim:
 1. An automated storage and retrieval apparatus for storingcontainers at ultra low temperatures, said apparatus comprising: afreezer compartment, said freezer compartment having a side wall; astorage carousel disposed inside said freezer compartment for holdingthe containers; a climate-controlled chamber disposed on said side wall;a climate system for controlling the climate of said chamber; aninterchange mechanism configured to: interchange a container betweensaid interchange mechanism and said climate-controlled chamber while ina chamber exchange position, and interchange a container between saidinterchange mechanism and said carousel while in a carousel exchangeposition; and said chamber being configured to: isolate the containerfrom said interchange mechanism as container is deposited from theexterior or placed into the exterior, and isolate the container from theexterior as container is exchanged between said chamber and saidinterchange mechanism.
 2. The apparatus of claim 1, wherein said chamberfurther comprises: an exterior door, whereby said exterior door isadapted to allow the containers to interchange between said chamber andthe exterior, and an interior door, whereby said interior door isadapted to allow the containers to interchange between said chamber andsaid interchange mechanism.
 3. The apparatus of claim 1, where saidchamber further comprises: a transport tray slidably mounted to saidchamber for transporting the container between an outer position closestto the exterior and an interior position closest to said interchangemechanism.
 4. The apparatus of claim 3, wherein said controlled chamberfurther comprises: a motor operably connected to said transport tray fortranslating said tray between the exterior position and interiorposition, and any position generally there between; and said motor beingdisposed outside said freezer compartment.
 5. The apparatus of claim 1,wherein said climate system comprises a dry gas supply to dehumidifysaid chamber and cool said chamber.
 6. The apparatus of claim 1, whereinsaid chamber comprises a writing device.
 7. The apparatus of claim 1,wherein said chamber comprises a reading device to identify thecontainers as they are inserted into and retrieved from said chamber. 8.The apparatus of claim 1, further comprising a control system, whereinsaid control system is operatively connected with said carousel, saidinterchange mechanism, and chamber for controlling their operations. 9.The apparatus of claim 8, wherein said control system comprises aprocessor for processing data relative to the containers being stored inand retrieved from the apparatus.
 10. The apparatus of claim 8, whereinsaid control system comprises a processor for processing data relatingto contents of the containers being stored in and retrieved from theapparatus.
 11. The apparatus of claim 8, further comprising a userstation operatively connected to the apparatus, said user stationcomprising a data input means for inputting data to said processorrelative to the containers.
 12. The apparatus of claim 1, wherein saidinterchange mechanism comprises: a picking mechanism translating saidinterchange tray for interchanging the container with said carousel orsaid chamber.
 13. The apparatus of claim 12, wherein said interchangemechanism further comprises: an interchange tray configured to retainthe container.
 14. The apparatus of claim 12, wherein said interchangemechanism further comprises: a vertical transporter configured to allowsaid interchange mechanism to be translated vertically over a pluralityof discrete heights.
 15. The apparatus of claim 14, wherein saidinterchange mechanism further comprises: a rotary transporter, saidrotary transporter configured to rotate said interchange mechanism to aplurality of discrete circumferential positions.
 16. The apparatus ofclaim 15, wherein said circumferential positions include rotationalalignment corresponding to a position at which the interchange mechanismcan: interchange selected containers with said climate-controlledchamber while in the chamber exchange position; and interchange selectedcontainers with said carousel while in the carousel exchange position.17. The apparatus of claim 15, further comprises: a motor operablyconnected to said rotary transporter for rotating said interchangemechanism the plurality of discrete circumferential orientations; andsaid motor being disposed outside said freezer compartment.
 18. Theapparatus of claim 14, wherein said discrete heights include the heightscorresponding to a height at which the interchange mechanism can:interchange selected containers with said climate-controlled chamberwhile in the chamber exchange position; and interchange selectedcontainers with said carousel while in the carousel exchange position.19. The apparatus of claim 14, further comprises: a motor operablyconnected to said vertical transporter for vertically translating saidinterchange mechanism to discrete heights; and said motor being disposedoutside said freezer compartment.
 20. The apparatus of claim 12, furthercomprises: a motor operably connected to said picking mechanism forsubstantially horizontally translating said picking mechanism between anextended position for use during the interchanging of the container, anda retracted position while the container remains in the non-extendedposition; and said motor being disposed outside said freezercompartment.
 21. The apparatus of claim 1, wherein said carousel furthercomprises an annular ring of vertical racks arranged circumferentially.22. The apparatus of claim 21, wherein said carousel further comprisesstorage trays to hold a plurality of storage containers.
 23. Theapparatus of claim 22, wherein said storage trays are adjustablymounted.
 24. The apparatus of claim 21, wherein said carousel furthercomprises an upper horizontal top plate and a lower horizontal supportplate.
 25. The apparatus of claim 21, wherein said carousel is rotatableso as to align said vertical racks with said interchange mechanism. 26.The apparatus of claim 21, further comprising: a motor operablyconnected to said carousel for rotating said carousel; and said motorbeing disposed outside said freezer compartment.
 27. An automatedstorage and retrieval apparatus for storing containers at ultra lowtemperatures, said apparatus comprising: a freezer means for freezingthe containers; a storage means disposed inside said freezer means forholding the containers; a chamber means for interchanging the containersbetween the exterior and said freezer means; a climate system controlmeans for controlling the climate of said chamber means; an interchangemeans for: interchanging a container between said interchange means andsaid chamber means while in a chamber exchange position, andinterchanging a container between said interchange means and saidstorage means while in a storage exchange position; and said chambermeans for: isolating the container from said interchange means ascontainer is deposited from the exterior or placed into the exterior,and isolating the container from the exterior as container is exchangedbetween said chamber means and said interchange means.
 28. An automatedstorage and retrieval apparatus for storing containers at ultra lowtemperatures, said apparatus comprising: a freezer compartment, saidfreezer compartment having a side wall; a storage device disposed insidesaid freezer compartment for holding the containers; aclimate-controlled chamber disposed on said side wall; a climate systemfor controlling the climate of said chamber; an interchange mechanismconfigured to: interchange a container between said interchangemechanism and said climate-controlled chamber while in a chamberexchange position, and interchange a container between said interchangemechanism and said storage device while in a device exchange position;and said chamber being configured to: isolate the container from saidinterchange mechanism as container is deposited from the exterior orplaced into the exterior, and isolate the container from the exterior ascontainer is exchanged between said chamber and said interchangemechanism.
 29. The apparatus of claim 28, wherein said storage device ismovable so as to align said storage device with said interchangemechanism.
 30. The apparatus of claim 28, wherein said storage device isstationary.
 31. A method for automatically depositing and storingcontainers in a freezer compartment at ultra low temperatures, saidmethod comprising: providing a carousel in said freezer compartment;depositing a container into a climate-controlled chamber; controllingthe climate of said chamber while isolating said chamber for apredetermined time while the container remains in said chamber;retrieving the container from said chamber to said freezer compartmentwhile said chamber is isolated from the exterior; and storing thecontainer in said carousel.
 32. A method for automatically storing andretrieving containers in a freezer compartment at ultra lowtemperatures, said method comprising: providing a carousel in saidfreezer compartment; providing a climate controlled chamber; retrievinga stored container from said freezer into said climate controlledchamber, while said chamber is isolated from the exterior; controllingthe climate of said chamber while isolating said chamber for apredetermined time while the container remains in said chamber; andpresenting the container for pickup while said chamber is isolated fromsaid freezer compartment.
 33. The method of 32, wherein said presentingthe container comprises ejecting the container to the exterior forpickup.
 34. A method for automatically depositing and storing containersin a freezer compartment of an automated apparatus at ultra lowtemperatures, said apparatus comprising: a freezer compartment, saidfreezer compartment having a side wall; a storage carousel disposedinside said freezer compartment for holding the containers; aclimate-controlled chamber disposed on said side wall; a climate controlsystem for controlling the climate of said chamber; an interchangemechanism configured to: interchange a container between saidinterchange mechanism and said climate-controlled chamber while in achamber exchange position, and interchange a container between saidinterchange mechanism and said carousel while in a carousel exchangeposition; and said chamber being configured to: isolate the containerfrom said interchange mechanism as container is deposited from theexterior or placed into the exterior, and isolate the container from theexterior as container is exchanged between said chamber and saidinterchange mechanism.
 35. A method for automatically storing andretrieving containers in a freezer compartment of an automated apparatusat ultra low temperatures, said apparatus comprising: a freezercompartment, said freezer compartment having a side wall; a storagecarousel disposed inside said freezer compartment for holding thecontainers; a climate-controlled chamber disposed on said side wall; aclimate control system for controlling the climate of said chamber; aninterchange mechanism configured to: interchange a container betweensaid interchange mechanism and said climate-controlled chamber while ina chamber exchange position, and interchange a container between saidinterchange mechanism and said carousel while in a carousel exchangeposition; and said chamber being configured to: isolate the containerfrom said interchange mechanism as container is deposited from theexterior or placed into the exterior, and isolate the container from theexterior as container is exchanged between said chamber and saidinterchange mechanism.
 36. A method for automatically depositing andstoring containers in a freezer compartment of an automated apparatus atultra low temperatures, said apparatus comprising: a freezer means forfreezing the containers; a storage means disposed inside said freezermeans for holding the containers; a chamber means for interchanging thecontainers between the exterior and said freezer means; a climate systemcontrol means for controlling the climate of said chamber means; aninterchange means for: interchanging a container between saidinterchange means and said chamber means while in a chamber exchangeposition, and interchanging a container between said interchange meansand said storage means while in a storage exchange position; and saidchamber means for: isolating the container from said interchange meansas container is deposited from the exterior or placed into the exterior,and isolating the container from the exterior as container is exchangedbetween said chamber means and said interchange means.
 37. A method forautomatically storing and retrieving containers in a freezer compartmentof an automated apparatus at ultra low temperatures, said apparatuscomprising: a freezer means for freezing the containers; a storage meansdisposed inside said freezer means for holding the containers; a chambermeans for interchanging the containers between the exterior and saidfreezer means; a climate system control means for controlling theclimate of said chamber means; an interchange means for: interchanging acontainer between said interchange means and said chamber means while ina chamber exchange position, and interchanging a container between saidinterchange means and said storage means while in a storage exchangeposition; and said chamber means for: isolating the container from saidinterchange means as container is deposited from the exterior or placedinto the exterior, and isolating the container from the exterior ascontainer is exchanged between said chamber means and said interchangemeans.